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Original file line number | Diff line number | Diff line change |
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@@ -1,2 +1,15 @@ | ||
import json | ||
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from .video_processor.camera_config import CameraConfig | ||
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class GeospatialVideo: | ||
pass | ||
def __init__(self, video: "str", camera: "list[CameraConfig] | str") -> None: | ||
self.video = video | ||
if isinstance(camera, str): | ||
with open(camera, "r") as f: | ||
camera_configs = json.load(f) | ||
assert isinstance(camera_configs, list), camera_configs | ||
self.camera = [CameraConfig(*c, 0) for c in camera_configs] | ||
else: | ||
self.camera = camera |
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11 changes: 11 additions & 0 deletions
11
spatialyze/video_processor/utils/associate_segment_mapping.py
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from ..stages.segment_trajectory.from_tracking_3d import SegmentTrajectoryMetadatum | ||
from ..stages.tracking_3d.tracking_3d import Tracking3DResult | ||
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def associate_segment_mapping( | ||
tracking_result: "Tracking3DResult", | ||
segment_mapping_meta: "list[SegmentTrajectoryMetadatum] | None", | ||
): | ||
if segment_mapping_meta is None: | ||
return None | ||
return segment_mapping_meta[tracking_result.frame_idx].get(tracking_result.object_id) |
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from ..camera_config import CameraConfig | ||
from ..stages.segment_trajectory.construct_segment_trajectory import SegmentPoint | ||
from ..stages.tracking_3d.tracking_3d import Tracking3DResult | ||
from ..types import Float3 | ||
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def format_trajectory( | ||
video_name: "str", | ||
obj_id: "str", | ||
track: "list[tuple[Tracking3DResult, CameraConfig, SegmentPoint | None]]", | ||
base=None, | ||
): | ||
timestamps: "list[str]" = [] | ||
pairs: "list[Float3]" = [] | ||
itemHeadings: "list[int]" = [] | ||
translations: "list[Float3]" = [] | ||
camera_id = None | ||
object_type = None | ||
# road_types: "list[str]" = [] | ||
# roadpolygons: "list[list[Float2]]" = [] | ||
### TODO (fge): remove investigation code | ||
info_found = [] | ||
# if obj_id in investigation_ids: | ||
# print(f"obj_id, {obj_id}:", [e[1].filename for e in track]) | ||
for tracking_result_3d, ego_info, segment_mapping in track: | ||
if ego_info: | ||
if ( | ||
"sweeps/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657125362404.jpg" | ||
in ego_info.filename | ||
): | ||
info_found.append( | ||
[ | ||
obj_id, | ||
tracking_result_3d.bbox_left, | ||
tracking_result_3d.bbox_top, | ||
tracking_result_3d.bbox_w, | ||
tracking_result_3d.bbox_h, | ||
] | ||
) | ||
camera_id = ego_info.camera_id | ||
object_type = tracking_result_3d.object_type | ||
timestamps.append(ego_info.timestamp) | ||
pairs.append(tracking_result_3d.point) | ||
if not segment_mapping or (segment_mapping.segment_type == "intersection"): | ||
itemHeadings.append(None) | ||
else: | ||
itemHeadings.append(segment_mapping.segment_heading) | ||
translations.append(ego_info.ego_translation) | ||
# road_types.append(segment_mapping.road_polygon_info.road_type if base else detection_info.road_type) | ||
# roadpolygons.append(None if base else detection_info.road_polygon_info.polygon) | ||
if len(timestamps) == 0 or camera_id is None or object_type is None: | ||
return None | ||
# if obj_id in investigation_ids: | ||
# print(f"pairs for obj {obj_id}:", [(e[0], e[1]) for e in pairs]) | ||
# print(f"itemHeadings for obj {obj_id}:", itemHeadings) | ||
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return ( | ||
video_name + "_obj_" + str(obj_id), | ||
camera_id, | ||
object_type, | ||
timestamps, | ||
pairs, | ||
itemHeadings, | ||
translations, | ||
), info_found |
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from ..camera_config import CameraConfig | ||
from ..stages.segment_trajectory.construct_segment_trajectory import SegmentPoint | ||
from ..stages.segment_trajectory.from_tracking_3d import SegmentTrajectoryMetadatum | ||
from ..stages.tracking_3d.tracking_3d import Metadatum as Tracking3DMetadatum, Tracking3DResult | ||
from .associate_segment_mapping import associate_segment_mapping | ||
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def get_tracks( | ||
sortmeta: "list[Tracking3DMetadatum]", | ||
ego_meta: "list[CameraConfig]", | ||
segment_mapping_meta: "list[SegmentTrajectoryMetadatum] | None", | ||
base=None, | ||
) -> "dict[str, list[tuple[Tracking3DResult, CameraConfig, SegmentPoint | None]]]": | ||
trajectories: "dict[str, list[tuple[Tracking3DResult, CameraConfig, SegmentPoint | None]]]" = {} | ||
for i in range(len(sortmeta)): | ||
frame = sortmeta[i] | ||
for obj_id, tracking_result in frame.items(): | ||
if obj_id not in trajectories: | ||
trajectories[obj_id] = [] | ||
associated_ego_info = ego_meta[i] | ||
associated_segment_mapping = associate_segment_mapping( | ||
tracking_result, segment_mapping_meta | ||
) | ||
trajectories[obj_id].append( | ||
(tracking_result, associated_ego_info, associated_segment_mapping) | ||
) | ||
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for trajectory in trajectories.values(): | ||
last = len(trajectory) - 1 | ||
for i, t in enumerate(trajectory): | ||
if i > 0: | ||
t[0].prev = trajectory[i - 1][0] | ||
if i < last: | ||
t[0].next = trajectory[i + 1][0] | ||
return trajectories |
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import math | ||
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from ..types import Float3 | ||
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def infer_heading( | ||
curItemHeading: "int | None", prevPoint: "Float3 | None", current_point: "Float3" | ||
): | ||
if curItemHeading is not None: | ||
return math.degrees(curItemHeading) | ||
if prevPoint is None: | ||
return None | ||
x1, y1, z1 = prevPoint | ||
x2, y2, z2 = current_point | ||
# 0 is north (y-axis) and counter clockwise | ||
return math.degrees(math.atan2(y2 - y1, x2 - x1)) - 90 |
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from ...database import Database | ||
from ...utils import join | ||
from ..types import Float3 | ||
from .infer_heading import infer_heading | ||
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def insert_trajectory( | ||
database: "Database", | ||
item_id: str, | ||
camera_id: str, | ||
object_type: str, | ||
postgres_timestamps: "list[str]", | ||
pairs: "list[Float3]", | ||
itemHeading_list: "list[int]", | ||
translation_list: "list[Float3]", | ||
# road_types: "list[str]", | ||
# roadpolygon_list: "list[list[tuple[float, float]]]" | ||
): | ||
traj_centroids: "list[str]" = [] | ||
translations: "list[str]" = [] | ||
itemHeadings: "list[str]" = [] | ||
prevTimestamp: "str | None" = None | ||
prevPoint: "Float3 | None" = None | ||
for timestamp, current_point, curItemHeading, current_trans in zip( | ||
postgres_timestamps, pairs, itemHeading_list, translation_list | ||
): | ||
if prevTimestamp == timestamp: | ||
continue | ||
prevTimestamp = timestamp | ||
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# Construct trajectory | ||
traj_centroids.append(f"POINT Z ({join(current_point, ' ')})@{timestamp}") | ||
translations.append(f"POINT Z ({join(current_point, ' ')})@{timestamp}") | ||
curItemHeading = infer_heading(curItemHeading, prevPoint, current_point) | ||
if curItemHeading is not None: | ||
itemHeadings.append(f"{curItemHeading}@{timestamp}") | ||
# roadTypes.append(f"{cur_road_type}@{timestamp}") | ||
# polygon_point = ', '.join(join(cur_point, ' ') for cur_point in list( | ||
# zip(*cur_roadpolygon.exterior.coords.xy))) | ||
# roadPolygons.append(f"Polygon (({polygon_point}))@{timestamp}") | ||
prevPoint = current_point | ||
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# Insert the item_trajectory separately | ||
item_headings = ( | ||
f"tfloat 'Interp=Stepwise;{{[{', '.join(itemHeadings)}]}}'" if itemHeadings else "null" | ||
) | ||
insert_trajectory = f""" | ||
INSERT INTO Item_General_Trajectory (itemId, cameraId, objectType, trajCentroids, | ||
translations, itemHeadings) | ||
VALUES ( | ||
'{item_id}', | ||
'{camera_id}', | ||
'{object_type}', | ||
tgeompoint '{{[{', '.join(traj_centroids)}]}}', | ||
tgeompoint '{{[{', '.join(translations)}]}}', | ||
{item_headings} | ||
); | ||
""" | ||
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database.execute(insert_trajectory) | ||
database._commit() |
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